CN218506162U

CN218506162U - Modularized reconfigurable aircraft

Info

Publication number: CN218506162U
Application number: CN202221889064.8U
Authority: CN
Inventors: 彭勇; 杨春曦; 李一鸣; 张方方; 杨健全; 韩世昌; 黄英博; 那靖
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2023-02-21
Anticipated expiration: 2032-07-20

Abstract

The utility model discloses a modularized reconfigurable aircraft, which comprises a flight unit module and a mechanical connection structure; and the adjacent flying unit modules are connected through a mechanical connecting structure. The utility model uses the quick-detachable mechanical connection structure to realize the quick separation and assembly between a plurality of flight unit modules and functional modules; the flying unit module can realize the flying of aircrafts with various configurations, which are composed of an even number of flying unit modules not less than 4, so as to adapt to various flying tasks under complex environments; the installation of the carbon fiber rod in the flight unit module is similar to the design of the shape of an umbrella framework, so that the overall structural strength is improved, and the problem of shaking caused by the rotation of a propeller is solved; by carrying the functional modules such as the visual module, the energy module, the communication module and the like, the development of various functions such as detection, multi-target tracking, improvement of endurance time, recovery of local area communication and the like can be realized.

Description

Modularized reconfigurable aircraft

Technical Field

The utility model relates to a modularization restructural aircraft belongs to the aircraft field.

Background

Unmanned aerial vehicles are aircrafts with the most complex variety and the widest application field so far, and have great differences in configuration, application, size, flying height, flying speed and the like. Fixed wing unmanned aerial vehicle has advantages such as duration is long, flying speed is fast, load-carrying capacity is strong, but can't hover, and receive the influence of gust air current easily. The unmanned helicopter has the characteristics of hovering, high force efficiency and the like, but has a complex structure, large vibration and noise and high use cost. The rotor type micro unmanned aerial vehicle has the characteristics of small volume, capability of vertical take-off and landing, ultra-low speed flight and the like, but the development is limited due to low load and short endurance time.

Because traditional unmanned aerial vehicle, or can't hover, or the cost is higher, or the load-carrying capacity is lower, in some complicated environment and topography, can't be competent in multiple job task. Therefore, a new topology unmanned aerial vehicle which can adapt to different terrains and different environments needs to be researched.

Disclosure of Invention

The utility model provides a modularization restructural aircraft has found the restructural aircraft with modular flight unit module through ingenious connection.

The technical scheme of the utility model is that: a modularized reconfigurable aircraft comprises a flight unit module 1 and a mechanical connection structure 3; the adjacent flight unit modules 1 are connected through a mechanical connecting structure 3.

Optionally, the functional module 2 is fixedly installed at the middle position of the plurality of flight unit modules 1 through a mechanical connection structure 3; wherein the number of the flight unit modules 1 is an even number which is not less than 4.

Optionally, the flying unit module 1 includes a main panel 4, a dc motor fixing member 10 for fixing a dc motor 11 is disposed in the middle of the main panel 4, the dc motor fixing member 10 is connected to the main panel 4, and a propeller 7 is mounted at an axial end of the dc motor 11.

Optionally, the main panel 4 includes a plate body, an inner ring of the plate body is circular, an outer ring main body of the plate body is designed to be hexagonal, the hexagon is sequentially connected through six main edges, six corners formed by connecting the six main edges are cut to form six secondary edges, and a weight reduction groove is formed in the plate body.

Alternatively, the dc motor fixing member 10 includes an outer frame, an upper plate 15 and a lower plate 16 which are arranged up and down in the outer frame; wherein, the upper layer plate 15 is fixedly provided with a direct current motor 11, and the lower layer plate 16 is provided with a flight control plate 17 and an electric regulator 18; a group of hinged supports I9 are arranged on the outer surface of the outer frame at intervals of 120 degrees, and each group of hinged supports I9 comprises two hinged supports I9 which are arranged up and down.

Optionally, a shaft sleeve 12 is mounted on the hinged support i 9 in a hinged connection manner, and the shaft sleeve 12 is fixedly connected with one end of the carbon fiber rod 8; the other end of the carbon fiber rod 8 is fixedly connected with a shaft sleeve 12, and the shaft sleeve 12 arranged at the other end of the carbon fiber rod 8 is connected with a hinged support II 13 arranged on the main panel 4 to form a hinge connection structure.

Optionally, the distance between the centers of the shaft sleeves 12 mounted on the group of hinged supports I9 is greater than the distance between the centers of the shaft sleeves 12 mounted on the group of hinged supports II 13; wherein, every 120 intervals install a set of hinged support II 13 on the main panel 4, and a set of hinged support II 13 includes two hinged support II 13 that are arranged from top to bottom.

Optionally, the mechanical connection structure 3 comprises an L-shaped connection block i 5 and an L-shaped connection block ii 6, and the L-shaped connection blocks i 5 and the L-shaped connection blocks ii 6 are sequentially and alternately arranged on the main panel 4 of the flight unit module 1; in the adjacent flight unit modules 1, the L-shaped connecting block I5 of the first flight unit module 1 is connected with the L-shaped connecting block II 6 of the second flight unit module 1, and the L-shaped connecting block II 6 of the first flight unit module 1 is connected with the L-shaped connecting block I5 of the second flight unit module 1.

Optionally, a shaft sleeve II 22 is fixedly installed on one side of the L-shaped connecting block I5, a shaft sleeve I20 is fixedly installed on one side of the L-shaped connecting block II 6, and a bolt 23 penetrates through the matched surfaces of the shaft sleeve II 22, the L-shaped connecting block I5 and the L-shaped connecting block II 6, and the shaft sleeve I20 is in threaded connection with the nut 19.

Optionally, a through strip-shaped hole 21 is formed in the surface where the L-shaped connecting block I5 and the L-shaped connecting block II 6 are matched, and the axial directions of the shaft sleeve I20 and the shaft sleeve II 22 are all provided with a groove forming an included angle with the strip-shaped hole, and one side, away from the shaft sleeve I20, of the shaft sleeve II 22 is provided with a groove; the bolt 23 is provided with a linear stop block 24 at one side far away from the nut 19, and the linear hole 21 is used for the bolt 23 with the linear stop block 24 to pass through.

The beneficial effects of the utility model are that:

1. the utility model uses the quick-detachable mechanical connection structure to realize the quick separation and assembly between a plurality of flight unit modules and functional modules; the flying unit module can realize the flying of aircrafts with various configurations, which are composed of an even number of flying unit modules not less than 4, so as to adapt to various flying tasks under complex environments;

2. the installation of the carbon fiber rod in the flight unit module is similar to the design of the shape of an umbrella framework, so that the overall structural strength is improved, and the problem of shaking caused by the rotation of a propeller is solved;

3. by carrying the functional modules such as the visual module, the energy module, the communication module and the like, the development of various functions such as detection, multi-target tracking, improvement of endurance time, recovery of local area communication and the like can be realized.

Drawings

FIG. 1 is an overall view of the present invention;

FIG. 2 is a schematic view of an aircraft of the present invention in a different configuration;

fig. 3 is a schematic view of a flight unit module according to the present invention;

fig. 4 is a schematic view of a dc motor fixing member of the present invention;

FIG. 5 is an assembly view of the mechanical connection structure of the present invention;

fig. 6 is an exploded view of the mechanical connection structure of the present invention;

fig. 7 is a functional block diagram of the present invention;

FIG. 8 is an assembly view of the damping ball and the motor I of the present invention;

FIG. 9 is a view of the effect of the tiling of flying unit modules of different configurations;

FIG. 10 is a front and rear comparison view of a main panel for reducing weight;

the reference numbers in the figures are: the system comprises a 1-flight unit module, a 2-function module, a 3-mechanical connection structure, a 4-main panel, a 5-L-shaped connection block I, a 6-L-shaped connection block II, a 7-propeller, an 8-carbon fiber rod, a 9-hinged support I, a 10-direct current motor fixing piece, an 11-direct current motor, a 12-shaft sleeve, a 13-hinged support II, a 14-communication interface, a 15-upper plate, a 16-lower plate, a 17-flight control plate, an 18-electric control unit, a 19-screw cap, a 20-shaft sleeve I, a 21-strip hole, a 22-shaft sleeve II, a 23-bolt, a 24-linear block, a 25-panel, a 26-damping ball, a 27-camera, a 28-motor III, a 29-motor II, a 30-motor I and a 31-camera pan-tilt.

Detailed Description

The invention will be further described with reference to the following drawings and examples, but the scope of the invention is not limited thereto.

As shown in fig. 1-10, a modular reconfigurable aircraft comprises a flying unit module 1, a mechanical connection structure 3; the adjacent flying unit modules 1 are connected through a mechanical connecting structure 3. The aircraft with the optimal configuration can be assembled according to different flight tasks.

Optionally, the functional module 2 is fixedly installed at the middle position of the plurality of flight unit modules 1 through a mechanical connection structure 3; wherein the number of the flight unit modules 1 is an even number which is not less than 4. The function of the aircraft can be further extended by installing the functional module 2 at an intermediate position of the plurality of flight unit modules 1.

Specifically, as shown in fig. 1-3, the entire main panel is designed to be topologically light-weighted on the basis of a regular hexagon structure, that is, on the basis of the regular hexagon, six corners are subjected to corner cutting treatment to form six secondary sides, so that the main sides are connected with the main sides through the secondary sides, and the secondary sides are shorter than the long sides; through the lightweight design, the structure is lighter, and the flying of an aircraft is facilitated; furthermore, through the flight unit module that forms through the design of topology lightweight on regular hexagon structure basis, functional module, and triangle-shaped, circular, quadrangle, different shape contrasts such as pentagon, have the higher characteristics of better tiling effect and material utilization (as shown in fig. 9, the tiling effect of different shapes has been demonstrated, when linking to each other through mechanical connection structure 3 and constituting the modularization aircraft between adjacent flight unit module 1, the hexagon configuration has better tiling effect when supporting various deformations, it can know to rotate the orbit circle from the analysis screw, when obtaining better tiling effect, the utility model discloses a topology overall arrangement material utilization is higher). Still further, the edges of the main sides are all installed with communication interfaces 14 to realize mutual communication among flight control boards 17 in a plurality of flight unit modules 1. The propeller 7 is divided into a positive propeller and a negative propeller, and each flight unit module 1 is provided with one positive propeller or one negative propeller. The flight unit modules 1 are even numbers which are not less than 4, namely the number of the positive and negative propellers in the whole modularized reconfigurable aircraft is the same, the problem that air torque is unbalanced due to the fact that the odd propellers are not even can be avoided, and normal flight of the aircraft is guaranteed.

Exemplarily, the utility model provides a lightweight result of main panel 4: the main panel 4 is made of a high-strength and light-weight carbon fiber material, and is designed to be light-weight by adopting a topology optimization technology, so that the optimized mass is reduced by 40% (for example, through experiments, the main panel 4 is made of the carbon fiber material, the distance between parallel edges in the main panel 4 is set to be 1 meter, and the thickness is set to be 6 millimeters). A comparison effect chart before and after the weight reduction of the flight unit module is shown in figure 10.

Optionally, the dc motor fixture 10 includes an outer frame (the outer contour of the frame is designed to be approximately hexagonal prism-shaped), an upper plate 15 and a lower plate 16 which are arranged up and down in the outer frame; wherein, the upper layer plate 15 is fixedly provided with a direct current motor 11, and the lower layer plate 16 is provided with a flight control plate 17 and an electric speed regulator 18; a group of hinged supports I9 are arranged on the outer surface of the outer frame at intervals of 120 degrees, and each group of hinged supports I9 comprises two hinged supports I9 which are arranged up and down.

Optionally, the distance between the centers of the shaft sleeves 12 mounted on the group of hinged supports I9 is greater than the distance between the centers of the shaft sleeves 12 mounted on the group of hinged supports II 13; wherein, every 120 intervals install a set of hinged support II 13 on the main panel 4, and a set of hinged support II 13 includes two hinged support II 13 that are arranged from top to bottom. As shown in fig. 1-3, three sets of hinge supports ii 13 are mounted on the upper and lower portions of the plate body formed by the three minor sides and the inner ring of the main panel, and the three sets of hinge supports i 9 are in corresponding positions. Through this design, the distance between the 8 one ends of two carbon fiber pole that arrange about being connected with every group hinged-support I9 is greater than the distance between the 8 other ends of two carbon fiber pole, makes the certain angle of 8 slopes of carbon fiber pole to can effectively improve the phenomenon that aircraft flight in-process stress mainly concentrates on hinged-support I9 and hinged-support II 13 department, improve aircraft structural stability. As shown in fig. 1-4, three groups of carbon fiber rods are arranged in the flight unit module with the hexagonal main body, each group is composed of two carbon fiber rods, and the installation of the six carbon fiber rods is similar to the design of the umbrella framework shape, so that the overall structural strength is improved, and the problem of shake caused by the rotation of a propeller is solved; moreover, the group number of carbon fiber pole is half of main panel owner limit quantity, when satisfying effective flight, still possesses following advantage: on the one hand, the weight is reduced, and on the other hand, the shelters below the propeller can be reduced, so that the influence on the lift force of the aircraft is reduced.

Optionally, a surface of the L-shaped connecting block I5, which is matched with the L-shaped connecting block II 6, and axial directions of the shaft sleeve I20 and the shaft sleeve II 22 are provided with a strip-shaped hole 21 which penetrates through the surface, and one side, which is far away from the shaft sleeve I20, of the shaft sleeve II 22 is provided with a groove which forms an included angle with the strip-shaped hole; the bolt 23 is provided with a linear stop block 24 at one side far away from the nut 19, and the linear hole 21 is used for the bolt 23 with the linear stop block 24 to pass through.

Specifically, as shown in fig. 5 and 6, a shaft sleeve I20 is fixedly mounted on the left side of a vertical plate of the L-shaped connecting block II 6, and a nut 19 is arranged on the left side of the shaft sleeve I20; a shaft sleeve II 22 is fixedly arranged on the right side of the vertical plate of the L-shaped connecting block I5, and a through strip-shaped hole 21 is formed in the matching surface of the L-shaped connecting block I5 and the L-shaped connecting block II 6 and in the axial direction of the shaft sleeve I20 and the shaft sleeve II 22; one side of axle sleeve II 22 keeping away from axle sleeve I20 is equipped with the recess that is the contained angle with the bar hole, as shown in the figure, the recess is 90 distributions with the bar hole. The right end of the bolt 23 is fixedly connected with a linear block 24, and when the bolt 23 with the linear block 24 is allowed to be not separated from the nut 19, the bolt can move leftwards through the strip-shaped hole 21 to separate the mechanical connection structure, so that the connection among the plurality of flying unit modules 1 or the functional modules 2 is released; when the linear block 24 is allowed to be matched with the groove on the shaft sleeve II 22, the linear block 24 is nested in the horizontal rectangular groove on the right end face of the shaft sleeve II 22 in a screwing mode through the nut 19, and therefore the plurality of flight unit modules 1 are fixedly connected (if the component function module 2 exists, the flight unit modules 1 are also fixedly connected with the function modules). By means of the design, the assembling device can be used for not only assembling a plurality of flight unit modules 1 when the bolt 23 is separated from the nut 19, but also assembling the plurality of flight unit modules 1 when the bolt 23 is not separated from the nut 19 (if the component functional module 2 exists, the assembling device can also be used for assembling the flight unit modules 1 and the functional modules), and furthermore, when the bolt 23 is assembled when the bolt 23 is not separated from the nut 19, the pairing time of the bolt 23 and the nut 19 can be reduced. It is worth noting that the L-shaped connecting blocks I5 and the L-shaped connecting blocks II 6 which are arranged on the edge of each main edge of the main panel 4 are in central symmetry, so that the plurality of flight unit modules 1 or the plurality of functional modules 2 are combined and connected together through random arrangement, and the condition that different surfaces of adjacent modules in a hexagon are connected in a matching mode is avoided.

It should be noted that the functional module 2 includes modules with different functions, such as a vision module, an energy module, and a communication module, and the description is given by taking a vision module with a camera as an example. As shown in fig. 7-8, the functional module 2 comprises a panel 25 which is subjected to light weight treatment, the outline of the panel 25 is approximately hexagonal, the size of the panel is matched with the size of the main panel 4 on the flying unit module 1, and the edge of each side of the hexagon is also provided with an L-shaped connecting block i 5 and an L-shaped connecting block ii 6 on the basis of central symmetry; a camera pan/tilt head 31 is mounted below the panel 25.

Optionally, camera cloud platform 31 upper end is equipped with 8 shock attenuation balls 26, and motor I30 is connected to shock attenuation ball 26 below, installs motor II 29 and motor III 28 respectively in camera cloud platform 31 inside, and motor III 28 axle head fixed mounting camera 27, three motors can realize that camera 27 multi-angle shoots.

With the structure shown in the figure, the working process of the utility model is described as follows:

according to the current flight task, the same number of flight unit modules 1 provided with the positive propellers or the negative propellers are selected, meanwhile, the functional modules can be selected according to the task requirement, and then the selected flight unit modules and the functional modules are quickly spliced by utilizing the mechanical connection structure 3 to form the aircraft with a specific configuration. The mechanical connection structure adopts an improved bolt connection mode, when adjacent modules are assembled, a bolt 23 with a straight check block 24 at one end vertically penetrates through the L-shaped connection block II 6 and the strip-shaped hole 21 in the shaft sleeve II 22, then the bolt is rotated 90 degrees clockwise, the nut 19 is screwed, the straight check block 24 is successfully embedded in the shaft sleeve II 22, the assembly process of the mechanical connection structure is completed, and finally the flight control plate 17 is utilized to complete stable flight of the aircraft according to the current aircraft configuration; during separation, the screw cap 19 is firstly unscrewed, the linear stop block 24 is pushed outwards for a certain distance, and then the linear stop block is pulled out from the middle of the strip-shaped hole 21 after rotating 90 degrees anticlockwise. After the assembly is completed, the communication between the flight control boards 17 on the flight unit module 1 is realized by using the communication interface 14, and finally, the stable control of the aircraft is realized through the main flight control board 17 (the aircraft adopts a distributed control mode, and each aircraft is provided with one flight control board. The modularized reconfigurable aircraft provided with the functional modules can realize specific functions. For example, a visual module realizes an aerial reconnaissance task or a target tracking task through a camera module on the module; by adding the energy module, the endurance time of the aircraft is prolonged; the aircraft with the communication module can realize short-time communication in a post-disaster area or a remote mountain area.

The present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A modular reconfigurable aircraft, characterized by: comprises a flying unit module (1) and a mechanical connecting structure (3); the adjacent flying unit modules (1) are connected through a mechanical connecting structure (3);

the flight unit module (1) comprises a main panel (4), a direct current motor fixing piece (10) for fixing a direct current motor (11) is arranged in the middle of the main panel (4), the direct current motor fixing piece (10) is connected with the main panel (4), and a propeller (7) is installed at the shaft end of the direct current motor (11).

2. The modular reconfigurable aircraft of claim 1, wherein: fixedly mounting a functional module (2) at the middle position of a plurality of flight unit modules (1) through a mechanical connecting structure (3); wherein the number of the flight unit modules (1) is an even number which is not less than 4.

3. The modular reconfigurable aircraft of claim 1, wherein: the main panel (4) comprises a plate body, wherein the inner ring of the plate body is circular, the main body of the outer ring of the plate body is designed in a hexagon shape, the hexagon is sequentially connected through six main edges, six angles formed by connecting the six main edges are cut to form six auxiliary edges, and weight reducing grooves are formed in the plate body.

4. The modular reconfigurable aircraft of claim 1, wherein: the direct current motor fixing piece (10) comprises an outer frame, an upper plate (15) and a lower plate (16), wherein the upper plate and the lower plate are positioned in the outer frame and are arranged up and down; wherein, the upper layer plate (15) is fixedly provided with a direct current motor (11), and the lower layer plate (16) is provided with a flight control plate (17) and an electric regulator (18); a group of hinged supports I (9) are arranged on the outer surface of the outer frame at intervals of 120 degrees, and each group of hinged supports I (9) comprises two hinged supports I (9) which are arranged up and down.

5. The modular reconfigurable aircraft of claim 4, wherein: a shaft sleeve (12) is arranged on the hinged support I (9) in a hinged connection mode, and the shaft sleeve (12) is fixedly connected with one end of the carbon fiber rod (8); the other end of the carbon fiber rod (8) is fixedly connected with a shaft sleeve (12) in the same way, and the shaft sleeve (12) arranged at the other end of the carbon fiber rod (8) is connected with a hinged support II (13) arranged on the main panel (4) to form a hinge connection structure.

6. The modular reconfigurable aircraft of claim 5, wherein: the distance between the centers of the shaft sleeves (12) arranged on the group of hinged supports I (9) is greater than the distance between the centers of the shaft sleeves (12) arranged on the group of hinged supports II (13); a group of hinged supports II (13) are arranged on the main panel (4) at intervals of 120 degrees, and each group of hinged supports II (13) comprises two hinged supports II (13) which are arranged up and down.

7. The modular reconfigurable aircraft of claim 1, wherein: the mechanical connecting structure (3) comprises an L-shaped connecting block I (5) and an L-shaped connecting block II (6), and the L-shaped connecting block I (5) and the L-shaped connecting block II (6) are sequentially and alternately arranged on the main panel (4) of the flying unit module (1); the L-shaped connecting block I (5) of a first flight unit module (1) in the adjacent flight unit modules (1) is connected with the L-shaped connecting block II (6) of a second flight unit module (1), and the L-shaped connecting block II (6) of the first flight unit module (1) is connected with the L-shaped connecting block I (5) of the second flight unit module (1).

8. The modular reconfigurable aircraft of claim 7, wherein: l shape connecting block I (5) one side fixed mounting axle sleeve II (22), L shape connecting block II (6) one side fixed mounting has axle sleeve I (20), and axle sleeve II (22), L shape connecting block I (5) and L shape connecting block II (6) complex face, axle sleeve I (20) and nut (19) threaded connection are passed in bolt (23).

9. The modular reconfigurable aircraft of claim 8, wherein: the surfaces of the L-shaped connecting block I (5) and the L-shaped connecting block II (6) which are matched with each other, the axial directions of the shaft sleeve I (20) and the shaft sleeve II (22) are all provided with a through strip-shaped hole (21), and one side, far away from the shaft sleeve I (20), of the shaft sleeve II (22) is provided with a groove forming an included angle with the strip-shaped hole; a linear stop block (24) is arranged on one side, away from the nut (19), of the bolt (23), and the linear hole (21) is used for the bolt (23) with the linear stop block (24) to penetrate through.